CN208023474U - A kind of track change robot - Google Patents

Abstract

Include that A piers, B piers and connection guardrail, the one end for connecting guardrail are hinged on the central shaft of A piers the utility model discloses a kind of track change robot, the other end for connecting guardrail is fixedly connected with B piers；Big dipper module, embedded type control module, alarm lamp, solar panel, lead-acid accumulator, LoRa modules, chassis and shell are both provided on the A piers and B piers；Mobile hard shoulder is arranged using access in the utility model, flexible, at low cost；Hard shoulder is carried out using dipper system to position in real time, control accuracy is high, safe；It is accurately positioned using dipper system and realizes that multilane changes；It realizes that urban traffic road network changes in real time using big data, is coped at any time since variation of the factors to road demand, the realizations such as traffic accident, vehicle flowrate variation, bad weather automatically control.

Description

A kind of track change robot

Technical field

The utility model is related to tide track technical fields, more specifically, more particularly to a kind of track change robot.

Background technology

Automobile is that the trip of the mankind brings great convenience, but with the quick increase of automobile quantity, traffic congestion is asked It inscribes increasingly severe.Although government constantly builds highway, city expressway, the growth rate of road is far below automobile number The growth of amount.In order to solve this problem, government puts into more and more funds in recent years and energy is used for developing intellectual resource traffic System improves the traffic efficiency of road, alleviates traffic jam issue.

" tidal phenomena " of traffic is the one of the major reasons of urban traffic blocking, the direction magnitude of traffic flow of going down town every morning Greatly, the direction magnitude of traffic flow of going out of the city is small, and at night be then go out of the city direction flow it is big, the direction magnitude of traffic flow of going down town is small.Reply is sooner or later A kind of typical solution of peak traffic flow is to enable tide track, morning peak go down town vehicle it is more when, increase is gone down town direction lane Number, reduction are gone out of the city direction lane number, evening peak go out of the city vehicle it is more when, increase is gone out of the city direction lane number, and reduction is gone down town direction lane Number.Current tide track is timing tide track, changes the traveling in tide track within the defined time of morning and evening peak period Direction, to adjust number of track-lines, use is also that ground double amber lines and traffic light are implemented to control to track direction.Traditional profit The mode for implementing control to track direction with ground double amber lines and traffic light, since numerous vehicles " being at loggerheads ", mark are inadequate Many drawbacks such as clear, the mode that isolation strip is gradually arranged in lane side substitute.And by being manually arranged between different tracks Isolation strip has implemented inconvenience since workload is huge, thus meet the tendency of again there are many emerging intelligent tide track and It is raw.

U.S.'s Gold Gate Bridge is to carry out one of the section of changeable driveway earliest in the world, and bridge floor is 27 meters wide, removes both sides Pavement, section are two-way six-lane, and morning hours four into four go out, and afternoon, guardrail moved right a track, form contrary circumstance. Tide track is arranged to solve the problems, such as this using artificial setting method in Early postoperative management department.On the lane line among bridge Every one section all there are one eye, work car slowly travels among track, and respectively there are one staff to be sitting in the flat of underbody on both sides On platform, the staff on the both sides of work car carries out plug respectively, and track can be changed by walking one time.Many at home Small city also can using it is this it is artificial by the way of the safe heap of Plastic traffic is set, to isolate a kind of individual road for tide Vehicle uses.The mode in this artificial setting tide track operates fairly simple, and maintenance cost and cost are relatively low；But it is this The mode that tide road is manually arranged in early, the evening peak phase needs to expend a large amount of artificial and time cost, and efficiency is low, and tide vehicle Road transformation is not easy, while the vehicle run at high speed is easy to damage construction personnel, and risk factor is higher.

Tide track efficiency is low, time cost is high in order to solve the problems, such as manually to be arranged, traffic control department using traffic lights and The mode of traffic sign delimit the fixed tide time to alleviate pressure when traffic congestion to certain fixed tide roads Power.Peak period on and off duty or go out of the city go down town peak period when, by the way that corresponding traffic light or direction board is arranged, temporarily Tide road is set, congestion in road is alleviated, this system control mode has saved time and cost of labor, improved tide track Applicability.But this mode does not have apparent isolation guardrail, due to driver road markings is unfamiliar with or attention not The problems such as concentration, be easy to cause accidentally to rush and accidentally go, to influence the utilization to tide track, certain friendship is likely to result in when serious Interpreter's event.

The developed countries such as the U.S. are for a series of problems in artificial setting tide track and signal control of intersection, practicality A kind of novel tide lane changing machine, had not only overcome that artificial setting tidal efficiency is low, but realize tide road it is effective every From.This tide lane changing machine is substantially a running locomotive, by the way that various mechanical devices are arranged in intra-locomotive, The guardrail in one track is moved to another track up with the operation of locomotive, which greatly enhances the speed of lane guardrail transformation Degree, reduces cost of labor, is further divided into several sections by more lane change machines for especially interminable tide track while having run At lane changing.But since planning limits, original isolation strip or greenbelt cannot be removed, and tide lane changing machine is caused It cannot be widely used, and the transcriber purchase cost is higher, need special isolation strip, while tide lane changing machine Cost also strongly limits the development of this technology at 3,000,000 dollars or more.

In order to improve the adaptability in tide track, the research staff in Shenzhen designs a kind of intelligent tide track again, should Intelligent tide track is formally exposed using remote control guardrail and the combining form of lamp control in Shen Nan South Mountain section, intelligence tide It nighttide track can be automatic that tide track is set automatically according to the size of vehicle flowrate.This intelligence tide track innovation bright spot exists In the introduction of remote control guardrail, it is similar to common guardrail, but bottom motors drive four pulleys, as long as plugging in, guardrail can Transverse shifting is carried out to be commanded with remote controler, the isolation switching in tide track is realized in 1 minute.Also there is intelligence barrier simultaneously Hinder identification technology, is able to detect that the barrier encountered during guardrail lane change.Compared to traditional traffic dispersion mode, significantly Reduce the risk and live load of traffic police on duty.Traffic police can be according to site traffic situation, and by hand-held remote controller, control is variable Divide to traveling lane mark and adjusts driveway travel directions at any time；If there is apparent current feature at crossing, in the feelings of not accident Under condition, traffic police can also shift to an earlier date the time into line program input fixed signal conversion, by its auto-changing；In addition, control centre Label can also be controlled using remote control means in due course by instruments monitor crossing road conditions；If realizing computer connection The intersection annunciator of net, moreover it is possible to distinguish simultaneously auto-control by automatic recognition system.Shenzhen, Beijing etc. are regional at present It comes into operation in succession, application prospect is very extensive.But in the operational process in this intelligent tide track, due to center The presence of isolation guardrail and greenbelt, on the one hand, the eastbound vehicle being lined up after overflowing cannot be introduced into the left-hand rotation of tide track, lead to tide Nighttide lane utilization ratio is not high, on the other hand, the right-hand rotation of southing mouth this two due to cannot be introduced into tide track by guardrail obstruction, also drop The low utilization rate in tide track.

Meanwhile it this being essentially still in such a way that hand-held remote controller carries out intelligent tide lane control It manually controls, destabilizing factor is more, is easy to be influenced by manpower factor, and be not easy centralized control, greatly Ground limits the development in intelligent tide track.

One of an important factor for communication in intelligent tide track is also the development of limitation tide track, such as Shenzhen are this The mode of intelligent tide track intelligence traffic police scene hand-held remote controller controls remote control guardrail, can only carry out closely Control, and cannot achieve the long-range centralized control of a wide range of remote control guardrail.

Technology of Internet of things is then the important opportunity for breaking through this problem.With the hair in intelligent tide track and Internet of Things Exhibition, in the market increasingly increases the requirement of wireless technology.Especially low-power consumption, height how are made what is advocated technology of Internet of things The wireless connection of reliability becomes the pursuit of modern internet of things equipment manufacturer, also becomes the mesh of wireless chip supplier Mark.There are many kinds of wireless technologys in Internet of Things application, including LAN and wide area network.The wireless technology of composition LAN has The WiFi of 2.4GHz, bluetooth, Zigbee etc., the wireless technology for forming wide area network mainly have 2G/3G/4G.LoRa is LPWAN communications One kind in technology is a kind of overlength distance Radio Transmission Technology based on spread spectrum.This technology change in the past about Transmission range and the compromise of power consider mode, and providing to the user a kind of simple can realize remote, low-power consumption system.Together When, free frequency range uses Lo Ra in the world, including 433,868,915MHz.LoRa technologies are a kind of extra long distances Small wireless technology has merged digital spread spectrum, Digital Signal Processing and forward error correction coding technology.There can be number using LoRa technologies One wireless data sending network of ten thousand wireless data transmission modules composition, the base station net of similar existing mobile communication, each node The mobile phone user of similar mobile network, in whole network coverage area, face-to-face communication between each network node and gateway away from From 5 kilometers or even farther can be reached.LoRa technologies have the characteristics that remote, low-power consumption, multinode, low cost.

If LoRa systems are dissolved into the control in intelligent tide track, it can break away from and be held by traffic police merely Remote controler carrys out the defect in intelligent control tide track, to realize the centralized control in intelligent tide track, and can greatly Production cost is reduced, the overall power in intelligent tide track is reduced, improves the popularity rate in intelligent tide track.

Positioning system plays the role of particularly important, current positioning system master in the use of tide track automatic running Will include the U.S. GPS satellite navigation system, Russia GLONASS (GLONASS) satellite navigation system and China the Big Dipper Satellite navigation system.

GPS of America satellite navigation system is using in the satellite of space flight, constantly earthward certain frequency of broadcast transmission is simultaneously The radio signal of certain special location informations is loaded with to realize the positioning system of positioning measurement.The system is by space motion The three parts such as satellite constellation, ground control segment, User Part form.GPS satellite navigation system originates in army of the U.S. I958 One project of side, l964 comes into operation, the 70's of 20th century, land, sea, and air of U.S. joint research and development satellite of new generation Position system GPS, main purpose are to provide real-time, round-the-clock and global navigation Service for three big field of land, sea and air, are used in combination In some military purposes such as information gathering, Nuclear detonation monitoring and emergency communication, l994 is arrived, Global coverage rate is up to 24 of 98% Own lay of GPS satellite constellations is completed.During GPS satellite navigation system use, GPS is with whole day The features such as time, high-precision, automation, high benefit, is applied successfully to geodesic survey, engineering survey, aeroplane photography, delivery vehicle A variety of subjects such as navigation and control, crustal movement measurement, engineering project deformation measurement, resources survey, geodynamics, have achieved Economic benefit and social benefit.The operational satellites of GPS satellite navigation system are located at the overhead away from earth's surface 20200km, are uniformly distributed In 6 orbital planes (each orbital plane 4), orbit inclination angle is 55 °.In addition, also 3 active redundancy satellites are in orbit. The distribution of satellite so that all can observe 4 or more satellites, and can prestore in the satel-lite Anywhere, any time in the whole world Navigation information a period of time also can be used, but navigation accuracy can continuously decrease, and the precision reached at present is about 10 meters.

GLONASS (GLONASS), is Russian " Global Satellite Navigation System GLOBAL NAVIGATION SATELLITE The abbreviation of SYSTEM ".GLONASS satellite navigation system is developed in Soviet Union's period earliest, after the plan, Russia continued by Russia Ross starts to establish the Global Satellite Navigation System of this country alone for 1993, which runs in starting in 2007, only opened at that time Put the domestic satellite positioning of Russia and navigation Service.By 2009, service range was extended to the whole world.GLONASS is defended Star navigation system main services content includes coordinate and motion velocity information of determining land, sea and aerial target etc.. GLONASS constellations are made of 30 satellites altogether, and 27 stars are evenly distributed on the orbit plane of 3 subcirculars, these three rails Road plane is separated by 120 degree two-by-two, and each orbital plane has 8 satellites, is separated by 45 degree between coplanar interior satellite, orbit altitude 2.36 ten thousand kilometers, 15 points of 11 hours cycles of operation, 64.8 degree of orbit inclination angle, at present precision reach 10 meters or so.

Beidou satellite navigation system is the global navigation satellite system that China voluntarily develops, and is after GPS of America satellite Third Global Satellite Navigation System after navigation system and Russian Glonass satellite navigation system.Beidou satellite navigation system System provides global range, round-the-clock, high-precision satellite navigation and positioning and time service service, and communicates energy with distinctive short message Power.On December 27th, 2012, Beidou satellite navigation system starting region formally services, and has the covering Asian-Pacific area, is China Space Science and Technology and satellite communication are to industrialization, the milestone of marketing development.Under the cooperation of bottom surface facility, Beidou satellite navigation The Real-Time Positioning of system has been significantly larger than GPS satellite navigation system, has had reached now in the case of 80 kilometers/hour 2 centimetres of precision.

With significantly improving for each field Beidou satellite navigation system popularity of communications and transportation, application environment it is further Perfect, service ability is remarkably reinforced, and the application of Beidou satellite navigation system achieves extremely significant achievement, for this purpose, being based on Beidou satellite navigation system proposes the lane change guidance method of the controllable hard shoulder mode in non-timed section tide track, by designing base In the track of Beidou satellite navigation system, change robot realizes that track is changed, in conjunction with existing monitoring and license plate recognition technology energy It reaches and realizes Full automatic unmanned in change lane, recycle big data system, may finally realize round-the-clock track oneself The caused congestion in road of the problems such as moving and adjust, solving the problems, such as by tidal phenomena, traffic accident, weather anomaly.

Utility model content

Utility model aims to solve not knowing for the above-mentioned prior art, it is proposed that a kind of track change robot and Tide track variation can carry out the transformation in tide track automatically, and can realize automatic obstacle-avoiding, reduce production and make With cost, influence of the manpower factor to intelligent tide track is reduced.

The utility model is achieved through the following technical solutions above-mentioned purpose：A kind of track change robot, including A piers, B Pier and connection guardrail, the one end for connecting guardrail are hinged on the central shaft of A piers, and the other end for connecting guardrail is fixedly connected with B piers；

It is both provided with big dipper module, embedded type control module, alarm lamp, solar panel, lead on the A piers and B piers Acid accumulator, LoRa modules, chassis and shell, embedded type control module connect section control base station, plumbic acid by LoRa modules Accumulator is fixed on chassis, and base plate cover is mounted in outer casing bottom, is provided with convex block on chassis, outer casing bottom be provided with on chassis The matched groove of convex block, be further fixed on chassis driving motor on shell, chassis driving motor connects ball-screw, on chassis It is provided with and is sleeved on the ball-screw with the matched feed screw nut of the ball-screw, the feed screw nut, chassis is driven Driving chassis moves up and down in the bottom of shell when dynamic motor drives ball screw turns；The shell upper end is provided with alarm The outer surface of lamp, shell is provided with solar panel, and solar panel connects lead acid storage battery by solar charging circuit Pond, the big dipper module are arranged at enclosure, and mobile mechanism and locking mechanism are arranged on chassis；

There are three directional wheel, including a driving wheel and two followers, the chassis of A piers for installation on the chassis of the A piers On also set up there are one motor is oriented, orientation motor connection driving wheel is driven the driving wheel to rotate, is moved by driving wheel Drive the movement of entire A piers；Guardrail driving motor, guardrail driving motor connection connection guardrail, shield are additionally provided with inside the A piers The connection guardrail and the entirety of B piers composition is driven to be rotated around central shaft when column driving motor movement；The A piers it is interior Portion is additionally provided with first laser rangefinder and the first rangefinder driving motor, and the first rangefinder driving motor connects first laser and surveys Distance meter and the rotation for driving the first laser rangefinder, horizontal big notch is offered on A piers, and connection guardrail passes through horizontal large trough Mouth connection central shaft and first laser rangefinder penetrate horizontal big notch and are irradiated to outside A piers, connect guardrail and pass through horizontal large trough Mouth is connected on the central shaft of driving axis connection of guardrail driving motor；

There are three universal wheels for installation on the chassis of the B piers, and the inside of B piers is additionally provided with second laser rangefinder and second Rangefinder driving motor, the second rangefinder driving motor connection second laser rangefinder simultaneously drive the second laser rangefinder It rotates, offers horizontal small-rabbet on B piers, second laser rangefinder is irradiated to through horizontal small-rabbet outside B piers.

A kind of tide track variation changes robot using along the uniformly distributed above-mentioned track in tide track side, including Following steps：

S1：The signal lamp for controlling tide track, makes the signal lamp of tide track inlet be converted to red light；And start first Change robot in group track；

S2：A piers and B piers carry out power-up initializing respectively, and judge that itself whether there is failure, and breakdown judge includes electric power storage Whether judgement that whether the whether enough judgements of pond electricity, big dipper module can position, wireless transport module can normally transmit letter Whether all motors can work normally in breath and hard shoulder；If there are failures for A piers or B piers, to there are the A piers of failure Or B piers restarted after again to the hard shoulder carry out breakdown judge, if there are still failures for A piers or B piers, there will be the A of failure The fault message of pier or B piers passes to section control base station, and lights the warning light of the hard shoulder, is not moved to the hard shoulder It is dynamic；If failure is not present in A piers and B piers, judge that A piers and B piers can be moved, and enters S3 steps；

S3：A piers and B piers obtain target position information respectively, and by the link division Cheng Ruo of current location and target location Dry part, every part of length is 10cm, obtains the segmented objects location information after dividing；A piers and B piers to move each fortune in turn The mode of dynamic 10cm is moved to target location；

S4：A piers are first turned on the alarm lamp of itself and carry out obstacle judgement, and the mode that obstacle judges is laser ranging method, Before A piers every time movement, the second laser rangefinder on B piers is in the direction direct projection to A piers of connection guardrail, to tide when detection Track direction rotates the second rangefinder driving motor on B piers, makes the direction of the second laser rangefinder on B piers and connect guardrail In 5 degree, the second laser rangefinder on B piers carries out obstacle judgement after launching light, and the length for connecting guardrail is S, if swashing The distance that laser range finder measures during light rotary electric machine rotates is consistently greater thanThen judge second laser ranging The light that instrument is sent out is not blocked, i.e., has the stroke of one section of 10cm long and accessible on the motion path of A piers, into S5 steps In；If being less than occurred in the distance that laser range finder measures during laser rotary electric machine rotatesThe case where, then Judge that the light that laser range finder is sent out was blocked, then obstacle judgement is carried out to A piers again after the 3s that is delayed；

S5：The locking device of A piers and B piers is unclamped, A piers carry out under the driving of orientation motor to segmented objects locality It moves along a straight line, the move distance of A piers is 10cm, and control motor makes A piers linear motion 10cm, and when A piers move, B piers are kept certainly By following state, after A piers have moved 10cm, A piers pass through big dipper module and determine the current current location information of itself, and will Current location information is compared with obtained in step S5 first segmentation location information, if the current location information of A piers with First fragment bit confidence manner of breathing overlaps, then A piers move to fragment bit and postpone closing alarm lamp and lock locking device, if A piers Current location information and first segmentation location information it is misaligned, then A piers continue movement until A piers current location information with First fragment bit confidence manner of breathing overlaps；

S6：Before B piers every time movement, in the direction direct projection to B piers of the first laser rangefinder edge connection guardrail on A piers, The first rangefinder driving motor when detection on tide track direction rotation A piers, makes the court of the first laser rangefinder on A piers To with to connect guardrail be in 5 degree, the first laser rangefinder on A piers launches progress obstacle judgement after light, if the first ranging The distance that first laser rangefinder measures during instrument driving motor rotates is consistently greater thanThen judge first laser The light that rangefinder is sent out is not blocked, i.e., has a trip and accessible on the motion path of B piers, into S8 steps；； If being less than occurred in the distance that first laser rangefinder measures during laser rotary electric machine rotatesThe case where, then Judge that the light that first laser rangefinder is sent out was blocked, then obstacle judgement is carried out to B piers again after the 3s that is delayed；

S7：The guardrail rotary electric machine on A piers, guardrail rotary electric machine is driven to drive the entirety of connection guardrail and B piers composition around A Pier is rotated；After B piers have moved 10cm, B piers determine the current current location information of itself by big dipper module, and will work as Front position information is compared with obtained in step S5 first segmentation location information, if the current location information of B piers with point Location information coincides, then enters S9 steps；If the current location information of B piers and segmentation location information it is misaligned, B piers after Reforwarding is dynamic until the current location of B piers coincides with segmentation position；

S8：Section control base station sends remaining segmentation location information successively to A piers and B piers, and repeats above-mentioned S5~S8 Step completes the movement of one group of track change robot until A piers and B piers reach target location；

S9：After the completion of the movement of first group of hard shoulder group, remaining hard shoulder group is repeated in above-mentioned S2~S8 steps, Until all hard shoulder groups are moved to the other side in tide track；

S10：The signal lamp in tide track is controlled, the Way in for keeping its new is green light, completes the change in entire tide track Change process.

The beneficial effects of the utility model are：1, the utility model utilizes the side movable type in tide track to be isolated Pier needs when changing Lane the mode that hard shoulder when directly will be mobile is moved to other side track to realize the transformation in tide track, It is flexible, it is at low cost.

2, the utility model can carry out avoidance judgement before movement, if on tide track there are barrier if without fortune It is dynamic, avoid the device of the utility model during the motion because the influence of barrier can not be successfully work and meet other people machine Motor-car impacts the problem of other people normally travels, and the device of the utility model is avoided to make to collide with vehicle in movement.

3, the utility model is accurately positioned using dipper system realizes that multilane changes, and the precision of positioning is up to Centimeter Level, It can accurately realize that the running fix of track change robot, precision are high；Simultaneously urban traffic road net is realized using big data Network changes in real time, is coped at any time due to variation of the factors to road demand such as traffic accident, vehicle flowrate variation, bad weathers, real Now automatically control.

4, the utility model reduces the universal wheel on B piers in such a way that A hard shoulders drive B hard shoulders to move together The use of driving motor reduces whole cost.

5, the brake positioning of the utility model does not only rely on the braking mechanism inside block of wood, can also be directly by A piers or B The shell entire lowering of pier is placed on ground, realizes that the shell side of block of wood is directly contacted with ground, avoids only A piers and B piers Wheel contacted with ground caused by hard shoulder sliding, be better achieved positioning, and the positioning method of shell decline can It is effective to prevent from entering sundries inside A piers or B piers, to influence the normal use of hard shoulder.

6, the utility model on the shell of hard shoulder by being arranged solar panel and the internal lead acid storage battery being arranged Pond realizes the charging at any time of hard shoulder and without the use under cable status, because of the number of change lane normally only one in one day To twice, thus lead-acid accumulator may be implemented completely daily change lane more can, while solar panel can ensure The continuation of the journey of hard shoulder longer time.

7, the setting that the utility model passes through alarm lamp can be that hard shoulder not only plays a warning role when in use, moreover it is possible to Fault alarm is carried out when breaking down inside hard shoulder, prevents the track caused by hard shoulder failure from can not change situation.

8, the utility model can drive hard shoulder shell to chassis after reaching final position by chassis driving motor Direction moves, and entire block of wood is integrally attached on ground, increases the stability of block of wood itself.

9, the utility model changes the movement of robot by closed-loop control track, and track change robot passes through Big Dipper mould Block obtains the location information of itself in real time, recycles the moving method of segmented, makes mobile more accurate, the essence finally positioned Accuracy is also very high.

Description of the drawings

Fig. 1 is a kind of overlooking structure diagram of track change of the utility model robot.

Fig. 2 is a kind of main structure diagram of track change of the utility model robot.

Fig. 3 is the three dimensional structure diagram of the utility model A piers.

Fig. 4 is the three dimensional structure diagram of the utility model B piers.

Fig. 5 is the schematic cross-sectional view of the utility model A piers.

Fig. 6 is the schematic cross-sectional view of the utility model B piers.

Fig. 7 is the flow diagram that one group of track change robot of the utility model is changed into runway.

In figure, 1-A piers, 2-B piers, 3- connections guardrail, 4- shells, 5- alarm lamps, 6- solar panels, 7- plumbic acids store Battery, 8-LoRa modules, the chassis 9-, the chassis 10- driving motor, 11- ball-screws, 12- feed screw nuts, 13- shaft couplings, 14- Driving wheel, 15- followers, 16- universal wheels, 17- guardrails driving motor, the first rangefinders of 18- driving motor, 19- first lasers Rangefinder, the second rangefinders of 20- driving motor, 21- second lasers rangefinder, 22- horizontal big notch, the horizontal small-rabbets of 23-.

Specific implementation mode

The utility model is described in further detail below in conjunction with the accompanying drawings：

As shown in figs. 1 to 6, robot, including A piers 1, B piers 2 and connection guardrail 3 are changed in a kind of track, connection guardrail 3 One end is hinged on the central shaft of A piers 1, and the other end of connection guardrail 3 is fixedly connected with B piers 2.Wherein master of the A piers 1 as movement Dynamic pier, B piers 2 follow A piers 1 and connection guardrail 3 to move together as the driven pier of movement.

Big dipper module 8, embedded type control module, alarm lamp 5, solar panel are both provided on the A piers 1 and B piers 2 6, lead-acid accumulator 7, LoRa modules, chassis 9 and shell 4, embedded type control module connect section by LoRa modules and control base It stands, lead-acid accumulator 7 is fixed on chassis 9, and chassis 9 is sleeved on 4 bottom of shell, and convex block, 4 bottom of shell are provided on chassis 9 Be provided with the matched groove of convex block on chassis 9, be further fixed on chassis driving motor 10, chassis driving motor on shell 4 10 connect ball-screws 11, are provided with and 11 matched feed screw nut 12 of the ball-screw, the feed screw nut on chassis 9 12 are sleeved on the ball-screw 11, and chassis driving motor 10 connects ball-screw 11, chassis driving electricity by shaft coupling 13 Driving chassis 9 moves up and down in the bottom of shell 4 when machine 10 drives ball-screw 11 to rotate, when chassis 9 moves to minimum point with Ground contacts, and the weight of entire track change robot is transferred to and is born by ground by chassis 9 at this time, is equivalent to entire track Change robot becomes a stake prevented on the ground, and track change robot can be effectively prevent in the movement on ground； 4 upper end of the shell is provided with alarm lamp 5, and the outer surface of shell 4 is provided with solar panel 6, and solar panel 6 passes through Solar charging circuit connects lead-acid accumulator 7.

The big dipper module 8 is arranged inside shell 4, and the top of A piers 1 and B piers 2 is provided with empty slot, is detained above empty slot There are end cap, big dipper module 8 to be located inside empty slot.

The mobile mechanism and locking mechanism of A piers 1 and B piers 2 are arranged on chassis 9；The locking mechanism of A piers 1 and B piers 2 It is the braking mechanism for limiting the movement of its mobile mechanism.

There are three directional wheel, including a driving wheel 14 and two followers 15, A piers 1 for installation on the chassis 9 of the A piers 1 Chassis 9 on also set up there are one motor is oriented, orientation motor connection driving wheel 14 is driven the driving wheel 14 to rotate, is passed through The movement of driving wheel 14 drives the movement of entire A piers 1；Guardrail driving motor 17, guardrail driving electricity are additionally provided with inside the A piers 1 The connection connection guardrail 3 of machine 17, guardrail driving motor 17 drives the connection guardrail and B piers 2 to form when moving whole around center Axis is rotated；The inside of the A piers 1 is additionally provided with first laser rangefinder 19 and the first rangefinder driving motor 18, and first Rangefinder driving motor 18 connects first laser rangefinder 19 and drives the rotation of the first laser rangefinder 19, on A piers 1 Horizontal big notch 22 is offered, connection guardrail 3 connects central shaft across horizontal big notch 22 and first laser rangefinder 19 penetrates Horizontal big notch 22 is irradiated to outside A piers 1, and connection guardrail 3 is connected to the drive of guardrail driving motor 17 across horizontal big notch 22 On the central shaft of moving axis connection；

There are three universal wheels 16 for installation on the chassis 9 of the B piers 2, and the inside of B piers 2 is additionally provided with second laser rangefinder 21 and the second rangefinder driving motor 20, the second rangefinder driving motor 20 connection second laser rangefinder 21 simultaneously drives described the The rotation of dual-laser rangefinder 21, horizontal small-rabbet 23 is offered on B piers 2, and second laser rangefinder 21 penetrates horizontal small-rabbet 23 are irradiated to outside B piers 2.

The overall system control in tide track further includes that remote control center and traffic lights background data server are remote The data transmission port at process control center and the data transmission port of traffic lights background data server are transmitted by optical fiber Or the mode of wireless data transmission carries out real-time Data Transmission, remote control center sends tide track change signal in real time To section control base station, walking command-control signal is sent to by section control base station in real time by way of wireless data transmission In corresponding road section in group of all tracks change robot, each track change group of robot is receiving respective walking life Corresponding movement is executed when enabling, and location information is fed back into section control base station in real time.Remote control center, section control base It stands and track change robot from top to bottom constitutes three layers of several structural formula systems.

Section control base station includes base station control module, LoRa Internet of Things base station and communication module, the LoRa Internet of Things Base station and communication module are connect with base station control module by serial ports, and the base station is become by LoRa Internet of Things base station and track LoRa modules in more robot realize that LoRa wireless telecommunications connection, the base station are realized and control centre by communication module On the one hand communication connection, the base station control module receive the movement instruction that control centre sends out and will generations pair after movement instruction Control command is sent to pair by the control command of each track change robot, base station control module by LoRa Internet of Things base station In the LoRa modules for the track change robot answered；On the other hand it receives after track change robot executes move and passes through The new location information that LoRa modules are sent out, and the location information is transferred to control centre by communication module.

As shown in fig. 7, a kind of tide track variation, machine is changed using along the uniformly distributed above-mentioned track in tide track side Device people, includes the following steps：

S1：The signal lamp for controlling tide track, makes the signal lamp of tide track inlet be converted to red light；And start first Change robot in group track；

S2：A piers 1 and B piers 2 carry out power-up initializing respectively, and judge itself to whether there is failure, and breakdown judge includes storing Whether judgement that whether the whether enough judgements of battery capacity, big dipper module 8 can position, wireless transport module can normally transmit Whether all motors can work normally in information and hard shoulder；If there are failures for A piers 1 or B piers 2, to there are failures A piers 1 or B piers 2 restarted after again to the hard shoulder carry out breakdown judge will be deposited if there are still failures for A piers 1 or B piers 2 Section control base station is passed in the A piers 1 of failure or the fault message of B piers 2, and lights the warning light of the hard shoulder, not to this Hard shoulder is moved；If failure is not present in A piers 1 and B piers 2, judge that A piers 1 and B piers 2 can be moved, and enters S3 Step；

S3：A piers 1 and B piers 2 obtain target position information respectively, and by the link division of current location and target location at Several pieces, every part of length is 10cm, obtains the segmented objects location information after dividing；A piers 1 and B piers 2 are every to move in turn The mode of secondary movement 10cm is moved to target location；

S4：A piers 1 are first turned on the alarm lamp 5 of itself and carry out obstacle judgement, and the mode that obstacle judges is laser ranging Method, before A piers 1 every time movement, the second laser rangefinder 21 on B piers 2 is in the direction direct projection to A piers 1 of connection guardrail 3, inspection The second rangefinder driving motor 20 when survey on tide track direction rotation B piers 2, makes the second laser rangefinder 21 on B piers 2 Direction with guardrail 3 is connect be in 5 degree, the second laser rangefinder 21 on B piers 2, which is launched, carries out obstacle judgement after light, company The length for connecing guardrail 3 is S, if the distance that laser range finder measures during laser rotary electric machine rotates is consistently greater thanThen judge that the light that second laser rangefinder 21 is sent out is not blocked, i.e., has one section on the motion path of A piers 1 The stroke of 10cm long is simultaneously accessible, into S5 steps；If laser range finder measures during laser rotary electric machine rotates Being less than occurred in distanceThe case where, then judge that the light that laser range finder is sent out was blocked, then after the 3s that is delayed again Obstacle judgement is carried out to A piers 1；

S5：The locking device of A piers 1 and B piers 2 is unclamped, A piers 1 are under the driving of orientation motor to segmented objects locality It moves along a straight line, the move distance of A piers 1 is 10cm, and control motor makes the linear motion 10cm of A piers 1, when A piers 1 move, B piers 2 keep free following state, and after A piers 1 have moved 10cm, A piers 1 determine the current present bit of itself by big dipper module 8 Confidence ceases, and current location information is compared with the first segmentation location information obtained in step S5, if A piers 1 are worked as Front position information is overlapped with first fragment bit confidence manner of breathing, then A piers 1 move to fragment bit and postpone closing alarm lamp 5 and lock Locking device, if the current location information of A piers 1 and first segmentation location information are misaligned, A piers 1 continue movement until A The current location information of pier 1 is overlapped with first fragment bit confidence manner of breathing；

S6：Before B piers 2 every time movement, first laser rangefinder 19 on A piers 1 along connection guardrail 3 direction direct projection to B On pier 2, the first rangefinder driving motor 18 when detection on tide track direction rotation A piers 1 makes the first laser on A piers 1 The direction of rangefinder 19 is in 5 degree with guardrail 3 is connect, and the first laser rangefinder 19 on A piers 1 is hindered after launching light Hinder judgement, if the distance that first laser rangefinder 19 measures during the first rangefinder driving motor 18 rotates is consistently greater thanThen judge that the light that first laser rangefinder 19 is sent out is not blocked, i.e., has one section of row on the motion path of B piers 2 Journey is simultaneously accessible, into S8 steps；；The distance that first laser rangefinder 19 measures during if laser rotary electric machine rotates Occurred being less thanThe case where, then judge that the light that first laser rangefinder 19 is sent out was blocked, then after the 3s that is delayed again It is secondary that obstacle judgement is carried out to B piers 2；

S7：The guardrail rotary electric machine on A piers 1 is driven, it is whole that guardrail rotary electric machine drives connection guardrail 3 and B piers 2 to form Body is rotated around A piers 1；After B piers 2 have moved 10cm, B piers 2 determine the current present bit confidence of itself by big dipper module 8 Breath, and current location information is compared with the first segmentation location information obtained in step S5, if the present bit of B piers 2 Confidence breath is overlapped with fragment bit confidence manner of breathing, then enters S9 steps；If the current location information of B piers 2 and segmentation location information are not It overlaps, then B piers 2 continue movement until the current location of B piers 2 coincides with segmentation position；

S8：Section control base station sends remaining segmentation location information successively to A piers 1 and B piers 2, and repeat above-mentioned S5~ S8 steps complete the movement of one group of track change robot until A piers 1 and B piers 2 reach target location；

S9：After the completion of the movement of first group of hard shoulder group, remaining hard shoulder group is repeated in above-mentioned S2~S8 steps, Until all hard shoulder groups are moved to the other side in tide track；

S10：The signal lamp in tide track is controlled, the Way in for keeping its new is green light, completes the change in entire tide track Change process.

Above-described embodiment is the preferred embodiment of the utility model, is not the limit to technical solutions of the utility model System, as long as without the technical solution that creative work can be realized on the basis of the above embodiments, is regarded as falling into In the rights protection scope of the utility model patent.

Claims (1)

1. robot is changed in a kind of track, it is characterised in that：Including A piers (1), B piers (2) and connection guardrail (3), guardrail is connected (3) one end is hinged on the central shaft of A piers (1), and the other end of connection guardrail (3) is fixedly connected with B piers (2)；

Big dipper module (8), embedded type control module, alarm lamp (5), solar-electricity are both provided on the A piers (1) and B piers (2) Pond plate (6), lead-acid accumulator (7), LoRa modules, chassis (9) and shell (4), embedded type control module are connected by LoRa modules Section control base station is connect, lead-acid accumulator (7) is fixed on chassis (9), and chassis (9) are sleeved on shell (4) bottom, chassis (9) On be provided with convex block, shell (4) bottom, which is provided with, to be further fixed on the matched groove of convex block on chassis (9), shell on (4) Chassis driving motor (10), chassis driving motor (10) connect ball-screw (11), are provided with and the ball wire on chassis (9) Thick stick (11) matched feed screw nut (12), the feed screw nut (12) are sleeved on the ball-screw (11), chassis driving Driving chassis (9) moves up and down in the bottom of shell (4) when motor (10) drives ball-screw (11) to rotate；The shell (4) Upper end is provided with alarm lamp (5), and the outer surface of shell (4) is provided with solar panel (6), and solar panel (6) passes through Solar charging circuit connects lead-acid accumulator (7), and the big dipper module (8) is arranged at shell (4) inside, A piers (1) and B The mobile mechanism of pier (2) and locking mechanism are arranged on chassis (9)；

Directional wheel there are three installations on the chassis (9) of the A piers (1), including a driving wheel (14) and two followers (15), It is also set up on the chassis (9) of A piers (1) there are one motor is oriented, orientation motor connection driving wheel (14) is driven the driving wheel (14) it rotates, the movement of entire A piers (1) is driven by driving wheel (14) movement；Guardrail drive is additionally provided with inside the A piers (1) Dynamic motor (17), guardrail driving motor (17) connection connection guardrail (3), guardrail driving motor (17) drive the connection when moving The entirety of guardrail and B piers (2) composition is rotated around central shaft；The inside of the A piers (1) is additionally provided with first laser rangefinder (19) and the first rangefinder driving motor (18), the first rangefinder driving motor (18) connect first laser rangefinder (19) and band The rotation of the first laser rangefinder (19) is moved, horizontal big notch (22) is offered on A piers (1), connection guardrail (3) passes through water It puts down big notch (22) connection central shaft and first laser rangefinder (19) is irradiated to A piers (1) outside through horizontal big notch (22), Connection guardrail (3) passes through on the central shaft of the driving axis connection that notch (22) is connected to guardrail driving motor (17) horizontal greatly；

There are three universal wheels (16), the inside of B piers (2) to be additionally provided with second laser survey for installation on the chassis (9) of the B piers (2) Distance meter (21) and the second rangefinder driving motor (20), the second rangefinder driving motor (20) connect second laser rangefinder (21) And the rotation of the second laser rangefinder (21) is driven, offer horizontal small-rabbet (23), second laser ranging on B piers (2) Instrument (21) is irradiated to B piers (2) outside through horizontal small-rabbet (23).